低侵襲脳神経外科手術のための単一ポート3アームロボットツールの設計とモデリング
Design and Modeling of a Single-Port Three-Arm Robotic Tool for Minimally Invasive Neurosurgery
単一の切開創から挿入できる、外径7.14mmのメインカニューレと3本の外径1.93mmのステアラブルなマイナーカニューレからなる12自由度の手術ロボットツールを設計・モデル化し、静的・運動学モデルを実験で検証した。
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著者: Nazia H. Dana, Harith S. Gallage, Ismail A. Auta, Dhanvi Yuvaraj, Ronghuai Qi
分類: cs.RO
原文アブストラクト
Surgical robots require highly dexterous and compact robotic systems capable of operating effectively within confined anatomical spaces. However, due to limited access provided by a single incision, the miniaturization and maneuverability of these robots still need to be improved. In this paper, we propose the design and modeling of a single-port three-arm robotic tool containing one major cannula (7.14 mm outer diameter (OD)) and three steerable minor cannulas (1.93 mm OD). By integrating the proposed 12 degrees-of-freedom (DoFs) steerable robotic tool with a 7-DoF robotic arm, this robotic system can potentially achieve multi-arm manipulation capability. We present the design of the steerable robotic tool consisting of tendon-driven joints controlled by a compact actuation system, derive the kinematic model, and validate both the static and kinematic models through experiments. The performance is evaluated with the root mean square error (RMSE) and mean absolute error (MAE) computed between the experimental data and the kinematic model.